US20130144437A1 - Module and method for measuring repulsive force for walking robot - Google Patents

Module and method for measuring repulsive force for walking robot Download PDF

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Publication number
US20130144437A1
US20130144437A1 US13/529,147 US201213529147A US2013144437A1 US 20130144437 A1 US20130144437 A1 US 20130144437A1 US 201213529147 A US201213529147 A US 201213529147A US 2013144437 A1 US2013144437 A1 US 2013144437A1
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United States
Prior art keywords
force
measurement data
walking robot
module
installation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US13/529,147
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English (en)
Inventor
Seok Won Lee
Woo Sung Yang
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Hyundai Motor Co
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Hyundai Motor Co
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Filing date
Publication date
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Assigned to HYUNDAI MOTOR COMPANY reassignment HYUNDAI MOTOR COMPANY ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: LEE, SEOK WON, YANG, WOO SUNG
Publication of US20130144437A1 publication Critical patent/US20130144437A1/en
Abandoned legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
    • G01L5/1623—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of pressure sensitive conductors

Definitions

  • the present invention relates to a module for measuring repulsive force of a walking robot configured as a low-price sensor module for calculating a zero moment point (ZMP) required for controlling a walking motion of a robot and measuring ground reaction force required for controlling the balance, and a method thereof.
  • ZMP zero moment point
  • Biped robots are understood by those skilled in the art as robots that walk on two feet while multiplied robots are those robots that walk on more then two feet.
  • measurements and feed-back of ground reaction force are required for attitude control and balance control of the robot in real time.
  • GRF ground reaction force
  • a ground reaction force measuring sensor module used in an existing robot, typically use a high-price 6-axis force/torque (F/T) sensor, a force sensing resister (FSR) and a strain gauge to control the attitude and balance of the robot.
  • F/T high-price 6-axis force/torque
  • FSR force sensing resister
  • the existing F/T sensors are able to comparatively accurately measure the ground reaction force by measuring both 3-axis force and 3-axis moment.
  • these existing F/T sensors are not cost effective and thus commercialization of these types of robots is effected as a result.
  • existing FSR sensors are not able to measure just one vertical component.
  • the present invention has been made in an effort to provide a module for measuring the repulsive force of a walking robot using a low-price sensor module for calculating a zero moment point (ZMP) required for controlling walking of a robot and measuring ground reaction force required for controlling a balance, and a method thereof.
  • ZMP zero moment point
  • An exemplary embodiment of the present invention provides a module for measuring repulsive force for a walking robot, including: a base frame; a plurality of installation units provided on the base frame and surrounded by a plurality of side surfaces configured as inclined surfaces having a predetermined angle and a top surface formed in a horizontal plane; a 1-axis force sensor provided on each of the side surfaces and the top surface of the installation unit; and a control unit configured to calculate a sum force of the respective installation units from measurement data of the force sensor and calculate a ground reaction force (GRF) by integrating the sum force of the installation units.
  • GRF ground reaction force
  • a housing formed in surface contact with all the force sensors of the plurality of installation units may be coupled to an upper side of the base frame, and the installation unit may be configured by four pyramid-shaped side surfaces and one top surface.
  • the 1-axis force sensor may be configured by a force sensing resistor (FSR) type 1-axis sensor, and four installation units, arranged vertically, may be provided in the base frame.
  • the base frame may be installed on a lower end portion of a lower leg of the walking robot to provide proper measurements thereof.
  • the control unit may collect vertical drag of each of the installation units from the measurement data of the force sensor of the top surface of the installation unit and may calculate the zero moment point (ZMP) by integrating the collected vertical drag.
  • ZMP zero moment point
  • a method for measuring repulsive force using a module for measuring repulsive force for a walking robot includes collecting, by a control unit, the measurement data of the force sensor; calculating, by the control unit, the sum force of the respective installation units from the collected measurement data; and calculating, by the control unit, the ground reaction force (GRF) by integrating the sum force of the respective installation units.
  • GPF ground reaction force
  • the illustrative embodiment of the present invention may also collect the measurement data related to the top surface of the installation unit from the collected measurement data; and calculate the zero moment point (ZMP) by integrating the measurement data on the top surface of the installation unit.
  • ZMP zero moment point
  • FIG. 1 is a perspective view of a module for measuring repulsive force of a walking robot according to an exemplary embodiment of the present invention
  • FIG. 2 is a diagram showing a process of measuring ground reaction force using the module for measuring repulsive force of a walking robot shown in FIG. 1 ;
  • FIG. 3 is a diagram showing a process of measuring a zero moment point using the module for measuring repulsive force of a walking robot shown in FIG. 1 ;
  • FIG. 4 is a flowchart of a method for measuring repulsive force of a walking robot according to another exemplary embodiment of the present invention.
  • FIG. 1 is a perspective view of a module for measuring repulsive force of a walking robot according to an exemplary embodiment of the present invention.
  • the module for measuring repulsive force of a walking robot according to the exemplary embodiment of the present invention includes a base frame 100 , a plurality of installation units 300 provided on the base frame 100 and surrounded by a plurality of side surfaces 320 configured as inclined surfaces having a predetermined angle and a top surface 340 formed in a horizontal plane; a 1-axis force sensor 500 provided on each of the side surfaces 320 and the top surface 340 of the installation unit 300 ; and a control unit 600 configured to sum force of the respective installation units 300 from measurement data of the force sensor 500 and calculating ground reaction force (GRF) by integrating the sum force of the respective installation units 300 .
  • GRF ground reaction force
  • the base frame 100 may be installed on a lower end portion of a lower leg of the walking robot to calculate ground reaction force and a zero moment point that act on to a foot of the walking robot.
  • the robot is controlled to perform stable walking by using data deduced therethrough.
  • the base frame 100 and the module for measuring repulsive force for a walking robot according to the exemplary embodiment of the present invention may be installed on a sole or an ankle joint of the robot.
  • the base frame 100 is configured as one panel or as four divided panels and the installation units may be installed on the respective panels or respective points.
  • the installation unit 300 serves as a base on which a sensor is mounted and is configured by the plurality of side surfaces 320 configured on the inclined surface having the predetermined angle and the top surfaces 340 formed in the horizontal plane.
  • the plurality of installation units 300 are provided in the base frame 100 .
  • the 1-axis force sensor 500 is provided on each of the side surfaces 320 and the top surface 340 of the installation unit 300 .
  • control unit 600 receives all the measurement data of the plurality of force sensors 500 and calculates the sum force of the respective installation units 300 from the measurement data and calculates the ground reaction force (GRF) by integrating the sum force of the respective installation units 300 .
  • the force sensor 500 may be installed in the installation unit 300 as a low-price sensor capable of measuring force of only one axis measure side and vertical force.
  • FIG. 2 is a diagram showing a process of measuring ground reaction force using the module for measuring repulsive force for a walking robot shown in FIG. 1 .
  • force sensor 500 on the top surface 340 of the installation unit measures vertical force f 1 and side force f 2 is measured by the force sensor 500 on the side surface 320 (f 2 is measured as force vertical to the side surface due to a characteristic of the 1-axis force sensor).
  • f 1 and f 2 is measured as force vertical to the side surface due to a characteristic of the 1-axis force sensor.
  • the sum force f 3 of f 1 and f 2 can be calculated using known trigonometry calculations. A detailed method of the sum force f 3 will be able to the following equation.
  • Equation 1 and FIG. 2 since f 1 and f 2 , and the inclined angle of the side surface are known, force in a p direction can be known assumed that the inclined angle of the side surface is ⁇ /4. In addition, an angle ⁇ can be known through the p-direction force and an angle ⁇ and a q-direction force can be known through the angle ⁇ . Finally, the sum force of f 2 and the p-direction force are calculated to deduce final sum force f 3 .
  • the sum force calculated in the respective installation units is calculated by using a trigonometric function and the sum force of the installation units may be calculated by one ground reaction force (GRF) through the trigonometric function again.
  • GRF ground reaction force
  • the ground reaction force may be understood as one representative force throughout the base frame.
  • a housing 200 formed in surface contact with all the force sensors 500 of the plurality of installation units 300 may be coupled to an upper side of the base frame 100 . That is, the diagram shown in FIG. 1 is acquired through a translucent view of an internal configuration while the housing 200 covers the installation unit 300 and the base frame 100 .
  • the plurality of installation units 300 are installed in the base frame 100 , the housing 200 covers the upper side of the installation unit 300 , and a groove shape corresponding to an outer surface and a layout of the installation unit 300 is formed in the housing 200 , so that an inner surface of the housing 200 and the outer surface of the installation unit 300 are in surface come in contact with each other.
  • the housing 200 and the force sensors 500 of the respective surfaces of the installation units 300 are in surface contact with each other, and as a result, a load applied to the housing 200 is transferred to the force sensors 500 of the respective surfaces of the installation units 300 to be sensed.
  • the installation unit 300 may be configured by four pyramid-shaped side surfaces 320 and one top surface 340 .
  • the 1-axis force sensor 500 may be embodied as a force sensing resistor (FSR) type 1-axis sensor.
  • the FSR sensor may use a resistor type configuration and can sense only a load on one axis.
  • these sensors are low-cost, and therefore, the FSR sensor can be optimally used in a low-cost robot when the FSR sensor is configured utilizing the illustrative embodiment of the present invention.
  • each of the installation units 300 may be provided on the base frame 100 to acquire a final ground reaction force.
  • the control unit 600 collects vertical drag of each of the installation units 300 from the measurement data of the force sensor 500 of the top surface 340 of the installation unit and may calculate the zero moment point (ZMP) by integrating the collected vertical drag.
  • ZMP zero moment point
  • FIG. 3 is a diagram showing a process of measuring a zero moment point using the module for measuring repulsive force of a walking robot shown in FIG. 1 .
  • the force sensors 500 of the top surface 340 of the installation unit 300 sense the vertical load and select a predetermined point as an original point and when a point where the sum of moments is 0 with respect to four respective vertical loads is calculated from the original point, the corresponding point may be calculated as the zero moment point (ZMP). Therefore, according to the module for measuring repulsive force of a walking robot, the ground reaction force and the zero moment point can be acquired and the numerical value may be effectively used to control the stability of robot walking.
  • ZMP zero moment point
  • FIG. 4 is a flowchart of a method for measuring repulsive force for a walking robot according to another exemplary embodiment of the present invention.
  • the method executed by the control unit 600 for measuring repulsive force using the module for measuring repulsive force for a walking robot includes: a collection process (S 100 ) of collecting the measurement data of the force sensor; an individual calculation process (S 200 ) of calculating the sum force of the respective installation units from the collected measurement data; and an integrated calculation process (S 300 ) of calculating the ground reaction force (GRF) by integrating the sum force of the respective installation units.
  • S 100 collection process
  • S 200 individual calculation process
  • S 300 integrated calculation process
  • the integrated calculation process (S 300 ) may include a partial collection process (S 400 ) of collecting the measurement data on the top surface of the installation unit from the collected measurement data; and a partial calculation process (S 500 ) of calculating the zero moment point (ZMP) by integrating the measurement data on the top surface of the installation unit to calculate even the zero moment point.
  • control logic of the present invention may be embodied as non-transitory computer readable media on a computer readable medium containing executable program instructions executed by a processor, controller or the like.
  • the computer readable mediums include, but are not limited to, ROM, RAM, compact disc (CD)-ROMs, magnetic tapes, floppy disks, flash drives, smart cards and optical data storage devices.
  • the computer readable recording medium can also be distributed in network coupled computer systems so that the computer readable media is stored and executed in a distributed fashion, e.g., by a telematics server or a Controller Area Network (CAN).
  • a telematics server or a Controller Area Network (CAN).
  • CAN Controller Area Network
  • a module and a method for measuring repulsive force of a walking robot can effectively acquire a three dimensional ground reaction force generated when a biped walking robot while performing walking by using a low-cost sensor module and calculating a zero moment point using the same.
  • walking states two-feet supported, one-foot supported, and the like
  • the module and the method can be utilized in attitude control and balance control in a walking robot by using the ground reaction force and the zero moment point.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
US13/529,147 2011-12-05 2012-06-21 Module and method for measuring repulsive force for walking robot Abandoned US20130144437A1 (en)

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KR10-2011-0128985 2011-12-05
KR1020110128985A KR101262978B1 (ko) 2011-12-05 2011-12-05 보행로봇의 반발력 측정 모듈 및 방법

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Cited By (4)

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US9499219B1 (en) * 2014-08-25 2016-11-22 Google Inc. Touch-down sensing for robotic devices
US10179619B1 (en) * 2016-03-30 2019-01-15 Schaft Inc. Robotic foot sensor
WO2021099900A1 (en) * 2019-11-22 2021-05-27 University Of Cape Town Ground reaction force plate apparatus and measurement system
US11566955B2 (en) * 2020-02-21 2023-01-31 Sony Interactive Entertainment Inc. Detection apparatus that improves a positional relation between a working surface and a sensor

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KR101637439B1 (ko) * 2014-08-13 2016-07-07 국방과학연구소 수직 지면반발력을 통한 보행시작 의도인식 장치 및 방법
KR101654290B1 (ko) * 2014-11-27 2016-09-05 숭실대학교산학협력단 다중 센서를 이용한 보행재활로봇 지면반발력 산출 방법
KR101839668B1 (ko) 2016-01-07 2018-03-19 성균관대학교산학협력단 족부압력 측정장치 및 이를 이용한 지면 반력 측정방법
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JP5959283B2 (ja) 2016-08-02
KR101262978B1 (ko) 2013-05-08
JP2013116546A (ja) 2013-06-13

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